WO2024060084A1 - 物料运输载具、运载装置、干燥系统及控制方法 - Google Patents

物料运输载具、运载装置、干燥系统及控制方法 Download PDF

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Publication number
WO2024060084A1
WO2024060084A1 PCT/CN2022/120297 CN2022120297W WO2024060084A1 WO 2024060084 A1 WO2024060084 A1 WO 2024060084A1 CN 2022120297 W CN2022120297 W CN 2022120297W WO 2024060084 A1 WO2024060084 A1 WO 2024060084A1
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WIPO (PCT)
Prior art keywords
push
pull
bracket
move
material bracket
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Application number
PCT/CN2022/120297
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English (en)
French (fr)
Inventor
方严松
吴宜东
吴堃
Original Assignee
宁德时代新能源科技股份有限公司
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Priority to PCT/CN2022/120297 priority Critical patent/WO2024060084A1/zh
Publication of WO2024060084A1 publication Critical patent/WO2024060084A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
    • B65D19/00—Pallets or like platforms, with or without side walls, for supporting loads to be lifted or lowered
    • B65D19/36—Pallets comprising a flexible load carrier extending between guide elements, e.g. guide tubes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F26—DRYING
    • F26B—DRYING SOLID MATERIALS OR OBJECTS BY REMOVING LIQUID THEREFROM
    • F26B25/00—Details of general application not covered by group F26B21/00 or F26B23/00

Definitions

  • the present application relates to the field of battery technology, and in particular to a material transport vehicle, a material transport device, a material drying system and a control method, electronic equipment, computer-readable storage media and computer program products.
  • Electric vehicles have become an important part of the sustainable development of the automobile industry due to their advantages in energy conservation and environmental protection.
  • battery technology is an important factor related to their development.
  • This application aims to solve at least one of the technical problems existing in the prior art.
  • one purpose of this application is to propose material transport vehicles, material transport devices, material drying systems and control methods, electronic equipment, computer-readable storage media and computer program products to improve the operating efficiency of the manufacturing process.
  • An embodiment of the first aspect of the present application provides a material transport carrier, which includes: a carrying base and a push-pull assembly disposed on the carrying base.
  • the push-pull assembly is configured to drive a material bracket for holding materials in a first position. and the second position; the second position is a position above the carrying base, and the first position is a position located on the same horizontal plane as the second position and separated by a preset distance in the first direction relative to the second position.
  • a push-pull assembly capable of driving the material bracket to move is arranged on the carrying base, so that the material bracket automatically moves in and out of the carrying base, thereby realizing automatic handling of material transportation, improving production efficiency and reducing manufacturing costs.
  • the push-pull assembly includes a first push-pull assembly and a second push-pull assembly, the first push-pull assembly being configured to detachably connect with the material carrier and drive the material carrier between the first position and the first transition position.
  • the second push-pull component is spaced apart from the first push-pull component, and the second push-pull component is configured to be detachably connected to the material bracket and drive the material bracket to move between the second position and the first transition position, wherein the second push-pull component A transition position is between the first position and the second position.
  • the first push-pull component and the second push-pull component to move the material bracket in a two-stage drive manner, the problem of insufficient stability of the single-stage drive structure can be avoided and the movement of the push-pull component can be reduced. range, making the structural layout more compact and reducing the floor space.
  • the push-pull assembly is further configured to drive the material bracket to move between the second position and the third position; wherein the third position is located on the same horizontal plane as the second position, and is located on the second position respectively with the first position. Position along both sides of the first direction.
  • the push-pull component is used to drive the material bracket to move to both sides of the second position, which can get rid of the restriction of the specific orientation of the work station layout, improve the applicable scope and transportation efficiency of the device, and improve the operating efficiency of the device .
  • the first push-pull assembly includes a first push-pull rod, a first linear drive unit and a first rotary drive unit, and the first push-pull rod includes a first rod body and a first engaging portion fixedly connected to the first rod body;
  • the first linear drive unit is transmission connected with the first rod body to drive the first push-pull rod to move between the first position and the first transition position.
  • the first rotation drive unit is transmission connection with the first rod body. The first rotation drive unit drives the first push-pull rod to move between the first position and the first transition position.
  • the second push-pull assembly includes a second push-pull rod, a second linear drive unit and a second rotary drive unit, and the second push-pull rod includes a second push-pull rod.
  • the second linear drive unit is transmission connected with the second rod body to drive the second push-pull rod to move between the second position and the first transition position;
  • the two rotary driving units are transmission connected with the second rod body, and the second rotary driving unit drives at least one second engaging portion to rotate, so that the at least one second engaging portion engages or separates from the material bracket.
  • a first engaging portion and a second engaging portion are respectively provided on the first push-pull component and the second push-pull component to engage or separate from the material bracket, thereby achieving detachable connection.
  • the first push-pull component and the second push-pull component can respectively engage with the material bracket and then push and pull the material bracket to move, achieving two-level drive and avoiding excessive distance due to single-stage push and pull. This causes the structure to be damaged due to large stress and deformation, which improves the structural stability and safety of the device.
  • the push-pull assembly further includes a third push-pull assembly, which is spaced apart from the first push-pull assembly and the second push-pull assembly on the carrying base; wherein the second push-pull assembly is also configured to drive the material bracket. Move between the second position and the second transition position; the third push-pull assembly is further configured to drive the material carrier to move between the second transition position and the third position; the second transition position is between the second position and the third position between.
  • the bidirectional movement of the material bracket is realized by arranging a third component, so that the second push-pull component can cooperate with the first push-pull component and the third push-pull component respectively, so that both sides can pass through the double-sided push-pull component.
  • the material carrier is moved in a stage-driven manner to avoid redundancy in structural design, improve the utilization rate of the device, and improve operating efficiency.
  • the third push-pull assembly includes a third push-pull rod, a third linear drive unit, and a third rotary drive unit
  • the third push-pull rod includes a third rod body and a third engaging portion fixedly connected to the third rod body;
  • the third linear drive unit is transmission connected to the third rod body, the third linear drive unit is configured to drive the third push-pull rod to move between the third position and the second transition position, the third rotary drive unit is transmission connected to the third rod body,
  • the third rotational driving unit is configured to drive the third engaging portion to rotate to engage or separate the third engaging portion from the material bracket.
  • the structure of the third push-pull component is consistent with that of the first push-pull component and the second push-pull component, which can simplify the types of parts and facilitate subsequent maintenance, while maintaining the consistency of the moving structure on both sides and avoiding driving on both sides. Imbalance caused by large differences in structural stress.
  • the first position and the third position are mirror-symmetrical with respect to the second position, and the first transition position and the second transition position are mirror-symmetrical with respect to the second position.
  • the material transport carrier further includes: a positioning member fixedly connected to the carrier base, the positioning member is used to contact the material carrier or the material contained on the material carrier in response to the material carrier being in the second position. materials.
  • the positioning function of the positioning piece can also be used to judge whether the position of the material bracket is in place. If the position of the material bracket is somewhat offset from the second position, the positioning piece will send out an alarm signal because it cannot reach the preset positioning position. , and then the position of the material bracket can be adjusted to avoid accidents during transportation and ensure transportation safety.
  • An embodiment of the second aspect of the present application provides a material transport device, which includes: a material bracket for holding materials, a conveying track, and the material transport vehicle in the above embodiment.
  • long-distance transportation can be realized through the cooperation of the material transportation vehicle and the transmission track, so that the transportation vehicle in the material transportation device can transfer materials between different locations and combine different processes.
  • the processing equipment realizes the automatic loading, unloading and transportation of materials in different processing procedures, improving the efficiency of production operations.
  • the upper surface of the carrying base is provided with at least one first guide member extending along the first direction
  • the bottom of the material bracket is provided with at least one second guide member corresponding to the at least one first guide member, and the first The direction is perpendicular to the extension direction of the conveyor track.
  • the first guide member and the second guide member provided correspondingly can provide a guiding function for the material bracket when moving to avoid deviation. Furthermore, the first guide member and the second guide member The guide can also provide support in the vertical direction to prevent all or part of the gravity from acting on the push-pull component when the material bracket moves, causing the push-pull component to be deformed and damaged due to excessive force, thereby improving the structural reliability and safety of the device. stability. Setting the first direction perpendicular to the extension direction of the track is conducive to the arrangement of the moving space of the material bracket, avoiding interference with other equipment, and is also conducive to controlling the moving stroke of the material loading and unloading.
  • a clamping block is provided at the bottom of the material bracket, and the clamping block cooperates with the push-pull assembly to achieve a detachable connection between the material bracket and the material transport carrier.
  • a card block is provided to cooperate with the push-pull assembly to realize a detachable connection between the material bracket and the material transport vehicle in a snap-fit manner, so that the push-pull assembly can drive the material bracket through independent multi-stage push-pull movements, thereby avoiding excessive load caused by too long a push-pull stroke.
  • the material carrier further comprises a driving device configured to drive the material transport vehicle to move along the conveying track.
  • the driving device can realize the autonomous movement of the material transportation vehicle, realize automatic transportation of materials, and improve the transfer efficiency of materials between different processes.
  • the third aspect of the present application provides a material drying system, which includes the material carrying device in the above embodiment and a drying device located on the side of the conveyor track in the material carrying device.
  • the material carrying device is used to transport the material.
  • the rack is moved into or out of the drying station in the drying device.
  • the drying device is configured as a plurality of vacuum drying ovens arranged on one side or both sides of the conveyor track.
  • multiple vacuum drying furnaces can make full use of the efficient transmission capacity of the material conveying device.
  • the vacuum drying furnaces are arranged on both sides of the conveying track and are combined with the material carrying device to drive the material brackets to both sides. , which is conducive to the station layout of the conveyor system, improves the compactness of the material drying system, reduces the floor space, improves the operating efficiency of the material drying link, thereby improving production efficiency and reducing manufacturing costs.
  • the material drying system further includes a loading device and an unloading device.
  • the loading device is located at one end of the conveyor track and is used to stack materials on a material bracket located at the loading position; the unloading device is located at the conveyor The other end of the track is used to remove materials from the material bracket located at the unloading position.
  • loading and unloading devices are respectively provided at both ends of the conveyor track to realize the automatic operation of loading and unloading actions, forming a fully automated operation process and shortening the conversion between different processes. time and improve production efficiency.
  • the fourth aspect of the present application provides a control method for the material drying system in the above embodiment, which includes:
  • Step S401 moving the material transport vehicle so that the first position or the third position coincides with the loading position
  • Step S402 Move the material bracket from the loading position to the second position
  • Step S403 moving the material transport carrier to the front of the drying device so that the first position or the third position coincides with the drying station;
  • Step S404 Move the material tray from the second position to the drying station.
  • the material transport vehicle is used to automatically move the material from the loading position to the drying position, realizing automatic processing of drying and feeding operations, avoiding excessive time consumption caused by manual participation, and improving production efficiency.
  • control method of the material drying system further includes:
  • Step S501 Move the material transport carrier to the front of the drying device so that the first position or the third position coincides with the drying station;
  • Step S502 Move the material tray from the drying station to the second position
  • Step S503 moving the material transport vehicle so that the first position or the third position coincides with the material unloading position
  • Step S504 Move the material pallet from the second position to the unloading position.
  • the automatic discharging process after drying is realized by the material conveying device, thereby improving the automation degree and transfer speed of material transfer and improving production efficiency.
  • the snap connection between the push-pull assembly and the material bracket is maintained.
  • the engaging connection structure between the push-pull assembly and the material bracket can provide a good limiting effect when the material bracket is transported, preventing the material bracket from turning over, and ensuring the smoothness and safety of transportation. .
  • the positioning member on the carrying base in response to the material bracket being in the second position, is driven to abut the material bracket or the material contained on the material bracket.
  • the positioning member can play the role of position judgment and movement limitation of the material bracket. Through position judgment, it can ensure that the material bracket does not shift or is adjusted in time after the shift occurs, so as to avoid turning over during transportation. Otherwise, it will cause equipment failure.
  • the positioning piece can provide abutment and limit along the extension direction of the transmission track. This, together with the limit of the push-pull component, can realize the limit in two directions on the horizontal plane, better ensuring transportation. stability.
  • An embodiment of the fifth aspect of the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are At least one processor executes, so that at least one processor can execute the control method of the material drying system in the above embodiment.
  • the embodiment of the sixth aspect of the present application provides a computer-readable storage medium that stores a computer program.
  • the computer program is executed by a processor, the control method of the material drying system in the above embodiment is implemented.
  • An embodiment of the seventh aspect of the present application provides a computer program product, which includes a computer program, wherein the computer program implements the control method of the material drying system in the above embodiment when executed by a processor.
  • Figure 1 is a working schematic diagram of a material transport vehicle provided by some embodiments of the present application.
  • Figure 2 is a working schematic diagram of a material transport vehicle provided by other embodiments of the present application.
  • Figure 3 is a schematic structural diagram of a material transport vehicle according to some embodiments of the present application.
  • Figure 4 is a side view of a material transport vehicle according to some embodiments of the present application.
  • Figure 5 is a structural layout diagram of a material carrying device according to some embodiments of the present application.
  • Figure 6 is a bottom view of a material bracket according to some embodiments of the present application.
  • Figure 7 is a structural layout diagram of a material drying system according to some embodiments of the present application.
  • Figure 8 is a flow chart of a control method of a material drying system according to some embodiments of the present application.
  • Figure 9 is a flow chart of a control method of a material drying system in other embodiments of the present application.
  • Material transportation vehicle 100 carrying base 101, push-pull assembly 102, material bracket 103, clamping block 1031, first clamping block group 1032, second clamping block group 1033, third clamping block group 1034, first push-pull assembly 104,
  • Material carrying device 200 transmission track 201, driving device 202;
  • Material drying system 300 drying device 301, first vacuum drying furnace 302, second vacuum drying furnace 303, third vacuum drying furnace 304, loading device 305, unloading device 306, loading position 310, first drying position 320 , the second drying position 330, and the unloading position 340.
  • an embodiment means that a particular feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application.
  • the appearances of this phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those skilled in the art understand, both explicitly and implicitly, that the embodiments described herein may be combined with other embodiments.
  • multiple refers to more than two (including two).
  • multiple groups refers to two or more groups (including two groups), and “multiple pieces” refers to It is more than two pieces (including two pieces).
  • Power batteries are not only used in energy storage power systems such as hydropower, thermal power, wind power and solar power stations, but are also widely used in electric vehicles such as electric bicycles, electric motorcycles and electric cars, as well as in many fields such as military equipment and aerospace. . As the application fields of power batteries continue to expand, their market demand is also constantly expanding.
  • a set of automation devices can be designed to realize automatic transportation and loading and unloading operations of materials, realize automated operations in the battery manufacturing process, reduce manual participation, thereby improving production efficiency and reducing manufacturing cost.
  • moisture content is one of the important factors affecting the quality and performance of power batteries, and an important means of controlling moisture is to use a drying process.
  • the current drying process is still in a semi-automatic state, with complex operations, many manual steps, and too long a time, which has significantly hindered production efficiency and manufacturing costs.
  • the applicant has designed a material transportation vehicle after in-depth research.
  • a push-pull component on the carrier base By setting a push-pull component on the carrier base to drive the movement of the material bracket holding the material, automatic Loading and automatic unloading enable automatic operation when materials are transported and transferred, improving production efficiency and reducing manufacturing costs.
  • the material transport vehicles disclosed in the embodiments of this application may be, but are not limited to, RGV (Rail Guided Vehicle, RGV) cars, transport robots, and the like.
  • Material transportation vehicles can be used for, but are not limited to, transportation and drying operations of battery cells, battery pole pieces, and battery modules.
  • the material transport vehicle disclosed in this application can be used to form a material transport device, a material drying system, and a control method of the material drying system, etc., which is beneficial to reducing transportation time, improving battery production efficiency, and reducing manufacturing costs.
  • FIG. 1 is a schematic diagram of the operation of a material transport vehicle provided by some embodiments of the present application. Among them, (a) in Fig. 1 shows that the material bracket is in the first position, (b) in Fig. 1 shows that the material bracket is in the first transition position, and (c) in Fig. 1 shows that the material bracket is in the first transition position. The bracket is in the second position.
  • the material transport carrier 100 includes a carrier base 101 and a push-pull assembly 102 disposed on the carrier base.
  • the push-pull assembly 102 is configured to drive the material bracket 103 to move between a first position 110 and a second position 120; the second position 120 is located above the carrier base 101, and the first position 110 is located at the same horizontal plane as the second position 120 and is spaced a preset distance from the second position 120 along the first direction X.
  • the material bracket 103 can be used to hold materials.
  • the materials can be workpieces or modules to be transported or processed, such as battery cells.
  • the material bracket 103 can hold multiple workpieces or modules at the same time. Each workpiece or module can be placed in an appropriate manner and arranged according to the placement requirements during processing or processing. For example, multiple electric cores can be stacked on the material bracket 103.
  • the second position 120 may be a position directly above the carrying base 101 .
  • the first position 110 is a position on the same horizontal plane as the second position 120 and separated by a preset distance along the first direction
  • the positions are staggered and spaced a certain distance in the direction
  • the preset distance between the position 110 and the second position 120 can also be set according to the actual usage scenario, so that driving the material bracket 103 to move in the first position 110 and the second position 120 can realize the movement of the material bracket 103 in and out of the material.
  • the first direction X can be set according to the needs of the specific moving direction.
  • the material bracket 103 can automatically move in and out of the carrying base 101, realizing automatic material transportation without manual participation and improving Improve production efficiency and reduce manufacturing costs.
  • the push-pull assembly 102 includes a first push-pull assembly 104 and a second push-pull assembly 105 that are spaced apart, and the first push-pull assembly 104 is configured to be detachably connected to the material bracket 103, and drives the material bracket 103 to move between the first position 110 and the first transition position 111; the second push-pull assembly 105 is configured to be detachably connected to the material bracket 103, and drives the material bracket 103 to move between the second position 120 and the first transition position 111.
  • the first transition position 111 is between the first position 110 and the second position 120 .
  • the first transition position 111 , the first position 110 and the second position 120 are offset positions located in the same horizontal plane and along the same direction, for example, they are disposed sequentially along the first direction X.
  • the push-pull component 102 drives the material bracket 103 to move from the first position 110 to the second position 120 in two steps.
  • the first step is for the first push-pull component 104 to drive the material bracket 103 to move from the first position 110 to the first transition position 111
  • the second push-pull assembly 105 drives the material bracket 103 to move from the first transition position 111 to the second position 120, that is, above the carrying base 101, completing the process of moving the material bracket 103 into the carrying base 101.
  • the process of moving the material bracket 103 out of the carrying base 101 is to move from the second position 120 to the first transition position 111, and then move from the first transition position 111 to the first position 110, thereby realizing the connection between the material bracket 103 and the material transport base. With 100% complete separation.
  • the first push-pull component 104 and the second push-pull component 105 are arranged to move the material bracket 103 in a two-stage drive manner, the problem of insufficient stability of the single-stage drive structure can be avoided and the movement of the push-pull component can be reduced. range, making the structural stress more reasonable.
  • FIG. 2 show schematic diagrams of the movement process of the material transport carrier driving the material bracket provided by other embodiments of the present application. Among them, (a) in Fig. 2 shows that the material bracket is in the second position, (b) in Fig. 1 shows that the material bracket is in the second transition position, and (c) in Fig. 1 shows that the material bracket is in the second transition position. The carriage is in the third position.
  • the push-pull assembly 102 is further configured to drive the material carrier 103 to move between the second position 120 and the third position 130 .
  • the third position 130 and the second position 120 are located on the same horizontal plane, and are respectively located on both sides of the second position 120 along the first direction X with the first position 110 .
  • the material bracket 103 can be driven by the push-pull assembly 102 to move to both sides in the same or opposite directions along the first direction
  • the material tray 103 can be moved in and out, that is, it can be moved in and out on the same side, or it can be moved in and out on one side and on the other side.
  • the push-pull assembly 102 drives the material bracket 103 to move to both sides of the second position 120, which can get rid of the restriction of the specific orientation of the work station layout and improve the applicable scope and transportation efficiency of the device.
  • the stress problem caused by an excessively long single-stage push-pull stroke can be well avoided.
  • the push-pull stroke of each stage does not need to deviate from the carrying base. It is too far away, so there is no need to change the track settings and structural layout. It only requires simple adjustments to the drive unit. It will not be constrained by the structural layout, which can expand the application scenarios and improve the operating efficiency of the device.
  • the first push-pull assembly 104 includes a first push-pull rod 1041 , a first linear drive unit 1042 and a first rotary drive unit 1043 .
  • the first push-pull rod 1041 includes a first rod body 1044 and a first rod body 1044 .
  • the first engaging portion 1045 is fixedly connected to the first rod body 1044; the first linear drive unit 1042 is transmission connected to the first rod body 1044 to drive the first push-pull rod 1041 to move between the first position 110 and the first transition position 111,
  • the first rotary driving unit 1043 is transmission connected with the first rod body 1044, and the first rotary driving unit 1043 drives the first engaging part 1045 to rotate, so that the first engaging part 1045 engages or separates from the material bracket 103.
  • the second push-pull assembly 105 includes a second push-pull rod 1051, a second linear drive unit 1052 and a second rotary drive unit 1053.
  • the second push-pull rod 1051 includes a second rod body 1054 and at least one second clamp fixedly connected to the second rod body 1054.
  • the joint 1055; the second linear drive unit 1052 is transmission connected with the second rod body 1054 to drive the second push-pull rod 1051 to move between the second position 120 and the first transition position 111;
  • the second rotation drive unit 1053 is connected with the second rod body 1054 transmission connection, the second rotation drive unit 1053 drives at least one second engaging portion 1055 to rotate, so that the at least one second engaging portion 1055 engages or separates from the material bracket 103 .
  • the first push-pull rod 1041 is driven by the first linear driving unit 1042 to move linearly along the first direction X.
  • the first rotary driving unit 1043 drives the first push-pull rod 1041 Rotate, so that the first engaging portion 1045 engages or separates from the material bracket 103 through rotation, thereby achieving detachable connection.
  • the second push-pull rod 1051 also works on the same principle.
  • the first linear drive unit 1042 and the second linear drive unit 1052 may be driven by a motor and a screw rod, or may be driven by a telescopic cylinder; the first linear drive unit 1042 and the second linear drive unit 1052 may be the same or different.
  • the first rotary drive unit 1043 and the second rotary drive unit 1053 may be driven by a belt or a gear.
  • the first rotary drive unit 1043 and the second rotary drive unit 1053 may be the same or different.
  • a first engaging portion 1045 and a second engaging portion 1055 are respectively provided on the first push-pull component 104 and the second push-pull component 105 to engage or separate from the material bracket 103.
  • the detachable connection combined with the cooperation of the linear drive unit and the rotary drive unit, enables the first push-pull component 104 and the second push-pull component 105 to engage with the material bracket 103 respectively and then push and pull the material bracket to move, realizing secondary driving and reducing
  • the driving stroke of each stage prevents the structure from being damaged due to excessive force and deformation due to excessive distance when pushing and pulling in a single stage, and improves the structural stability and safety of the device.
  • the push-pull assembly 102 further includes a third push-pull assembly 106 , which is spaced apart from the first push-pull assembly 104 and the second push-pull assembly 105 on the carrying base 101 ;
  • the second push-pull component 105 is also configured to drive the material bracket 103 to move between the second position 120 and the second transition position 121 ;
  • the third push-pull component 106 is also configured to drive the material bracket 103 to move between the second transition position 121 and the third position 120;
  • the second transition position 121 is located between the second position 120 and the third position 130.
  • the bidirectional movement of the material bracket 103 is realized by providing the third push-pull component 106, so that the second push-pull component 105 can cooperate with the first push-pull component 104 and the third push-pull component 106 respectively to achieve
  • the material bracket 103 can be moved on both sides through dual-stage driving, which improves the utilization efficiency of the second push-pull component 105, avoids redundancy in structural design, improves the utilization rate of the device, and improves operating efficiency.
  • the third push-pull assembly 106 includes a third push-pull rod 1061 , a third linear drive unit 1062 and a third rotary drive unit 1063 .
  • the third push-pull rod 1061 includes a third rod body 1064 and a third rod body 1064 .
  • the third engaging portion 1065 is fixedly connected to the third rod body 1064; the third linear drive unit 1062 is transmission connected to the third rod body 1064, and the third linear drive unit 1062 is configured to drive the third push-pull rod 1061 at the third position 130 and the third Moving between the two transition positions 121, the third rotary drive unit 1063 is transmission connected with the third rod 1064, and the third rotary drive unit 1063 is configured to drive the third engaging part 1065 to rotate so that the third engaging part 1065 is connected with the material support.
  • the frame 103 is engaged or separated.
  • the third engaging portion 1065 may have the same size as the first engaging portion 1045 and the second engaging portion structure 1055 .
  • the third linear drive unit 1062 and the third rotary drive unit 1063 can also be configured to be consistent with the first linear drive unit 1042, the second linear drive unit 1052 and the first rotary drive 1043, the second rotary drive unit 1053 to improve zero The consistency of parts facilitates subsequent maintenance.
  • the structure of the third push-pull component 106 is consistent with that of the first push-pull component 104 and the second push-pull component 105, which can simplify the types of parts and facilitate subsequent maintenance, while maintaining the consistency of the bilateral moving structure and avoiding the problem of The imbalance is caused by the large difference in stress on the driving structures on both sides.
  • first position 110 and the third position 130 are mirror-symmetrical with respect to the second position 120
  • first transition position 111 and the second transition position 121 are mirror-symmetrical with respect to the second position 120 .
  • the first position 110 and the third position 130, the first transition position 111 and the second transition position 121 are specifically set to be mirror-symmetrical, which can more easily achieve positioning when moving between different sides, simplify the control logic of the drive unit, and reduce the failure rate.
  • the material transport carrier 100 further includes a positioning member 107 fixedly connected to the carrier base 101 for abutting against the material carrier 103 in response to the material carrier being located at the second position 120 . 103 or the material 140 contained on the material bracket 103.
  • the positioning member 107 may be a positioning cylinder. After the material bracket 103 moves into the carrying base 101, the piston rod that drives the positioning cylinder moves to contact the material bracket for positioning.
  • the arrangement direction of the positioning member 107 may be different from the first direction X to provide limiting in different directions, for example, perpendicular to the first direction. It can be understood that the materials contained on the material tray 103 may be placed in a stacked manner, such as stacked battery cells.
  • the positioning function of the positioning member 107 can also be used to determine whether the position of the material bracket 103 is in place. If the position of the material bracket 103 is somewhat offset from the second position 120, the positioning member 107 will be unable to achieve the preset positioning.
  • the alarm signal is sent out to remind the operator to adjust the position of the material bracket to avoid accidents during transportation and ensure the safety of transportation.
  • the second embodiment of the present application provides a material carrying device.
  • the material carrying device 200 includes: a material bracket 103 for holding materials, a transmission track 201 , and a material transport carrier 100 .
  • the material transport vehicle 100 may be the material transport vehicle in any of the above embodiments.
  • the material transport vehicle 100 may be an RGV trolley, and the transfer track 201 may be an RGV track.
  • the material carrying device 200 can cooperate with any processing equipment to realize automatic operation of one or more processing procedures of materials. Specifically, the material carrying device 200 transports the material bracket 103 holding the material from the loading station to the processing equipment for processing. After the processing process is completed, the material bracket 103 holding the material is moved from the processing equipment to the discharging station.
  • the processing equipment includes vacuum drying furnaces, reaction furnaces, etc.
  • long-distance transportation can be realized through the cooperation of the material transportation vehicle 100 and the transmission track 201, so that the transportation vehicle in the material transportation device 200 can transfer materials between different locations.
  • the automatic loading, unloading and transportation of materials in different processing processes can be realized to improve the efficiency of production operations.
  • the upper surface of the carrying base 101 is provided with at least one first guide 150 extending along the first direction X
  • the bottom of the material bracket 103 is provided with at least one first guide
  • the first direction X is perpendicular to the extension direction Y of the transmission track 201.
  • first direction X and the extension direction Y of the transmission track 201 are located in the same horizontal plane and are perpendicular to each other.
  • the first direction In an example, as shown in FIG. 4 , the first guide member 150 may be a slide rail, and the corresponding second guide member 160 may be a chute to cooperate with the slide rail to provide guidance and restriction for the movement of the material bracket 103 . In another example, In some embodiments, the first guide member 150 may also be a chute, and the corresponding second guide member 160 may be a slide rail or a pulley. The number of the first guide member 150 and the second guide member 160 may be two, or may be One or three more.
  • the first guide member 150 and the second guide member 160 are provided to provide a guiding function for the material bracket 103 when it moves, so as to avoid deviation. Furthermore, the first guide member 150 and the second guide member 160 can also provide a vertical support function, so as to avoid the gravity of the material bracket 103 when it moves acting in whole or in part on the push-pull assembly, so that the push-pull assembly is deformed and damaged due to excessive force, thereby improving the structural reliability and stability of the device. Setting the first direction X to be perpendicular to the track extension direction Y is conducive to the arrangement of the moving space of the material bracket 103, avoiding interference with other equipment, and is also conducive to controlling the moving stroke of the material loading and unloading.
  • a clamping block 1031 is provided at the bottom of the material bracket 103 .
  • the clamping block 1031 cooperates with the push-pull assembly 102 to achieve a detachable connection between the material bracket 103 and the material transport carrier 100 .
  • the blocking block 1031 may be a protrusion extending outward along the bottom surface of the material bracket, and the number of blocking blocks may be multiple.
  • the blocking block 1031 includes a first blocking block group 1032 that cooperates with the first engaging part 1045 , a second blocking block group 1033 that cooperates with the second engaging part 1055 , and a third engaging part 1065 that cooperates with it.
  • the third card block group 1034, the number of card blocks in the first card block group 1032, the second card block group 1033 and the third card block group 1034 may be one or more.
  • the blocking block 1031 cooperates with the first engaging part 1045, the second engaging part 1055 and the third engaging part 1065 in the push-pull assembly 102.
  • the portion 1055 and the third engaging portion 1065 can be provided with a slot that matches the size of the clamping block 1031, thereby achieving a detachable connection between the material bracket 103 and the material transport carrier 100.
  • the detachable connection between the material bracket 103 and the material transport carrier 100 is realized by arranging the clamping block 1031 to cooperate with the push-pull assembly 102, so that the push-pull assembly 102 can pass through each other.
  • Independent multi-stage push-pull motion drives the material bracket to avoid excessive load caused by too far a push-pull stroke.
  • the material carrying device 200 further includes a driving device 202 configured to drive the material transport carrier 100 to move along the conveying track 201 .
  • the driving device 202 is provided at one end of the carrying base of the material transport vehicle 100 .
  • the driving device 202 can be disposed on the material transport carrier 100 or at one end of the transmission track 201 and is drive-connected to the material transport carrier 100 through a transmission structure.
  • the driving device 202 can realize autonomous movement of the material transportation vehicle, realize automatic transportation of materials, and improve the transfer efficiency of materials between different processes.
  • a third embodiment of the present application provides a material drying system.
  • the material drying system 300 includes a material carrying device 200 and a drying device 301 located on the side of the conveyor track 201 in the material carrying device 200 .
  • the material carrying device 200 is used to move the material bracket 103 into or out of the drying station in the drying device 301 .
  • the material carrying device 200 is the material carrying device in the above embodiment.
  • the material transport carrier 100 in the material transport device 200 transports the material bracket 103 to the entrance of the drying device 301, and is driven by the push-pull component 102 to move the material bracket 103 from the second position 120 on the carrier base 101 to the drying station in the drying device 301; after the drying is completed, the material bracket 103 is moved from the drying station to the second position 120 on the carrier base 101 by the push-pull component 102 and then transported away.
  • the drying device 301 is configured as a plurality of vacuum drying ovens arranged on one side or both sides of the conveyor track 201 .
  • the drying device 301 includes a first vacuum drying furnace 302, a second vacuum drying furnace 303, and a third vacuum drying furnace 304, where the first vacuum drying furnace 302 and the second vacuum drying furnace 303 are located on the same side of the conveyor track 201 , the third vacuum drying furnace 304 is located on the other side of the conveyor track 201 .
  • multiple vacuum drying furnaces can make full use of the high-efficiency conveying capacity of the material carrying device 200.
  • the vacuum drying furnaces are arranged on both sides of the conveying track 201 and the material carrying device 200 can drive materials to both sides.
  • the combination of the brackets 103 is beneficial to the station layout of the conveying system, improves the compactness of the material drying system 300, reduces the floor space, improves the operating efficiency of the material drying link, thereby improving production efficiency and reducing manufacturing costs.
  • the material drying system 300 also includes a loading device 305 and an unloading device 306.
  • the loading device is located at one end of the conveyor track 201 and is used to stack the materials 140 on the material bracket 103 located at the loading position 310.
  • the loading and unloading device 306 is located at the other end of the conveyor track 201 and is used to take away the material on the material bracket 103 located at the unloading position 340.
  • the loading device 305 and the unloading device 306 can be a manipulator.
  • the manipulator grabs materials, such as electric cores, and places them on the material bracket 103 at the loading position or removes them from the material bracket 103 at the unloading position.
  • the loading position 310 refers to the position where the material bracket 103 is prepared to be transferred to the material transportation carrier 100
  • the unloading position 340 refers to the placement position after the material bracket 103 on the material transportation carrier 100 is removed.
  • the loading device 305 and the unloading device 306 are respectively provided at both ends of the conveyor track 201 to realize the automatic operation of the loading and unloading actions, form a fully automated operation process, and shorten the time between different processes. conversion time to improve production efficiency.
  • the fourth aspect of the present application provides a control method for a material drying system.
  • the control method for the material drying system includes:
  • Step S401 Move the material transport carrier 100 so that the first position 110 or the third position 130 coincides with the loading position 310;
  • Step S402 Move the material bracket 103 from the loading position 310 to the second position 120;
  • Step S403 Move the material transport carrier 100 to the front of the drying device 301 so that the first position 110 or the third position 130 coincides with the drying station 320;
  • Step S404 Move the material tray 103 from the second position 120 to the drying station 320.
  • the control method of the material drying system includes transporting the material tray from the loading position to the drying station in the drying device in order to perform the drying operation.
  • FIG. 7 when the material transport vehicle 100 moves to the loading position 310 , until the second position on the carrying base of the material transport vehicle 100 is along the first direction The positions 310 coincide so that the push-pull assembly 102 can be detachably connected to the material bracket 103 to drive the material bracket 103 to move from the loading position 310 to the second position 120 on the carrying base 101 of the material transport vehicle 100 .
  • the push-pull assembly 102 can move the material bracket 103 from the second position 120 on the carrying base 101 to the drying station 320 in the first vacuum drying furnace 302, completing the process of transporting the material from the loading position 310 to the drying station 320. Automated shipping process.
  • the relative positioning of the material transport carrier, the loading position and the drying station can be achieved by setting a positioning structure or sensor positioning to ensure that the material bracket moves to a predetermined position in a predetermined direction.
  • the material transport vehicle is used to automatically move the material from the loading position to the drying position, realizing automatic processing of drying and feeding operations, avoiding excessive time consumption caused by manual participation, and improving production efficiency.
  • control method of the material drying system also includes:
  • Step S501 Move the material transport carrier 100 to the front of the drying device 301 so that the first position 110 or the third position 130 coincides with the drying station;
  • Step S502 Move the material tray 103 from the drying station to the second position 120;
  • Step S503 Move the material transport carrier 100 so that the first position 110 or the third position 130 coincides with the unloading position 340;
  • Step S504 Move the material tray 103 from the second position 120 to the unloading position 340.
  • control method of the material drying system also includes a discharging process of removing the material tray from the drying position in the drying device and sending it to the unloading position.
  • the push-pull assembly 102 drives the material bracket 103 to move from the second drying position 330 to the second position 120 on the carrying base 101, and then is transported to one end of the conveying track 202 by the mobile material transporting vehicle 100 to facilitate unloading of materials.
  • the material transporting vehicle 100 needs to move to the first position 110 or the place where the third position 130 coincides with the unloading position 340, and then the push-pull assembly 102 drives the material bracket 103 to move from the second position 120 to the unloading position 340.
  • the material transport carrier 100 can be configured to drive the material bracket 103 to always move on the same side of the carrier base 101, that is, the loading position 310, the drying position and the unloading position 340 are all located on the same side of the material transport carrier.
  • the automatic discharging process after drying is realized by the material conveying device, thereby improving the automation degree and transfer speed of material transfer and improving production efficiency.
  • the snap connection between the push-pull assembly 102 and the material bracket 103 is maintained.
  • the second push-pull assembly 105 in the push-pull assembly 102 is provided with two second engaging portions 1055 .
  • the push-pull assembly 102 can align the material transport carrier 100 with the material bracket 103 when moving.
  • the material bracket 103 serves as a limiter to ensure stability during transportation.
  • the first push-pull assembly 104 and the third push-pull assembly 106 in the push-pull assembly 102 can also be moved when the material bracket 103 is located on the carrying base 101. In the two positions, the corresponding clamping blocks remain engaged and connected.
  • the engaging connection structure between the push-pull component and the material bracket can provide a good limiting effect when the material bracket is transported, preventing the material bracket from turning over, and ensuring smooth and safe transportation. .
  • the positioning member on the carrying base in response to the material bracket being in the second position, is driven to abut the material bracket or the material contained on the material bracket.
  • the positioning member 107 can be driven to abut the material bracket 103 or the material 140 along the extension direction of the conveyor track. At this time, if the position of the material bracket deviates from the preset second position, the positioning member 107 will not be able to meet the preset contact requirements, thereby sending an alarm signal to remind the operator to adjust the position of the material bracket.
  • the positioning member can play a role in position judgment and movement limitation of the material bracket. Through position judgment, it can ensure that the material bracket does not shift or is adjusted in time after the shift occurs, so as to avoid turning over during transportation. Otherwise, it will cause equipment failure.
  • the positioning piece can provide abutment and limit along the extension direction of the transmission track. This, together with the limit of the push-pull component, can realize the limit in two directions on the horizontal plane, better ensuring transportation. stability.
  • An embodiment of the fifth aspect of the present application provides an electronic device, which includes: at least one processor; and a memory communicatively connected to the at least one processor, wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are At least one processor executes, so that at least one processor can execute the control method of the material drying system in the above embodiment.
  • the embodiment of the sixth aspect of the present application provides a computer-readable storage medium that stores a computer program.
  • the computer program is executed by a processor, the control method of the material drying system in the above embodiment is implemented.
  • the seventh embodiment of the present application provides a computer program product, which includes a computer program, wherein the computer program implements the control method of the material drying system in the above embodiment when executed by a processor.
  • the material drying system 300 shown in Figures 2-7 includes a material carrying device 200, a drying device 301, a loading device 305 and an unloading device 306.
  • the material carrying device includes a conveying track 201, a material transporting vehicle 100 disposed on the conveying track 201, a driving device 202, and a material bracket 103 for holding materials.
  • the conveying track 201 is arranged in a straight line, and the driving device 202 is disposed on the material
  • the transport vehicle 100 is used to drive the material transport vehicle 100 to move on the transmission track 201 .
  • the drying device 301 includes a first vacuum drying furnace 302 and a second vacuum drying furnace 303 located on one side of the conveying track 201 , and a third vacuum drying furnace 304 located on the other side of the conveying track 201 .
  • the loading device 305 is located at the first end of the conveying track 201
  • the unloading device 306 is located at the second end of the conveying track 201 .
  • the feeding process of the material drying system 300 is:
  • the loading device 305 grabs the electric cores transported by the incoming pull tape and stacks them on the material bracket 103 .
  • the driving device 202 drives the material transport vehicle 100 to move to the first end of the conveyor track 201 until the material transport vehicle 100 stops moving when the first position corresponding to the carrying base 101 coincides with the loading position 310 .
  • the first linear drive unit 1042 drives the first push-pull rod 1041 to move to the first position until the first engaging portion 1045 moves to the position of the first block group 1032; the first rotation drive unit 1043 drives the first push-pull rod 1041 to rotate. , so that the slot on the first engaging part 1045 is engaged with the first block group 1032; the first linear drive unit 1042 drives the first push-pull rod 1041 to drive the material bracket 103 to move to the first transition position 111, and the first rotation The driving unit 1043 drives the first push-pull rod 1041 to rotate to separate the first engaging portion 1045 from the first block group, thereby completing the first level of pushing and pulling.
  • the second linear drive unit 1052 drives the second push-pull rod 1051 to move until the second engaging part 1055 moves to the position of the second clamp block group 1033, and the second rotation drive unit 1053 drives the second push-pull rod 1051 to rotate to make the second clamp
  • the joint part 1055 is engaged with the second block group 1033.
  • the second linear drive unit 1052 drives the second push-pull rod 1051 to drive the material bracket 103 to move from the first transition position 111 to the second position 120, completing the second level of push-pull.
  • the driving positioning member 107 abuts the side of the material bracket 103 to provide limiting support along the track extension direction Y for the material bracket 103 .
  • the driving device 202 drives the material transport carrier 100 to move along the conveyor track 201 to the front of the first vacuum drying furnace 302.
  • the material transport carrier 100 moves along the conveyor track 201 to keep the second engaging part 1055 and the second block group 1033 engaged and connected. .
  • the material transport carrier 100 stops moving, and the positioning member 107 is separated from the material bracket 103 to cancel the position limit.
  • the second linear drive unit 1052 drives the second push-pull rod 1051 to drive the material bracket 103 to move from the second position 120 to the second transition position 121
  • the second rotation drive unit 1053 drives the second push-pull rod 1051 to rotate to the second engaging portion 1055 Separate from the second card block group 1033.
  • the third linear driving unit 1062 drives the third push-pull rod 1061 to move to the position corresponding to the third engaging part 1065 and the third block group 1034, and the third rotational driving unit 1063 drives the third push-pull rod 1061 to rotate to the third engaging part.
  • the third linear drive unit 1062 drives the third push-pull rod 1061 to drive the material bracket 103 to move from the second transition position 121 to the first drying position 320 in the first vacuum drying furnace 302,
  • the third rotary drive unit 1063 drives the third push-pull rod 1061 to rotate until the third engaging portion 1065 is separated from the third block group 1034, and the third linear drive unit 1062 drives the third push-pull rod 1061 to return to the second position, closing the first
  • the furnace door of the vacuum drying furnace 302 completes the feeding process of the material drying operation.
  • the discharging process of the material drying system 300 is:
  • the driving device 202 moves the material transport carrier 100 to the front of the third vacuum drying furnace 304 and stops moving until the first position 110 coincides with the second drying position 330 in the third vacuum drying furnace 304 .
  • the push-pull assembly 102 drives the material bracket 103 to move from the second drying position 330 in the third vacuum drying furnace 304 to the second position 120, completing the material removal from the third vacuum drying furnace 304.
  • This process is basically the same as moving from the loading position 310 to the second position 120 during the feeding process.
  • the positioning member 107 abuts against the side of the material bracket 103.
  • the driving device 202 moves the material transport carrier 100 to the front of the unloading position 340, and stops material transportation until the first position 110 coincides with the unloading position 340.
  • the carrier 100 moves, and the positioning member 107 releases its contact with the material bracket 103 .
  • the push-pull assembly 102 drives the material bracket 103 to move from the second position 120 to the unloading position 340. This process is basically the same as moving from the second position 120 to the first drying position 320 during the feeding process.
  • the unloading device 306 grabs the cells on the material bracket 103 at the unloading position 340 and transfers them to the unloading pull belt to complete the entire unloading process.

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Abstract

一种物料运输载具、物料运载装置、物料干燥系统及控制方法、电子设备、计算机可读存储介质及计算机程序产品。该物料运输载具（100）包括：运载底座（101）和设置在运载底座（101）上的推拉组件（102），推拉组件（102）被配置为驱动用于盛放物料的物料托架（103）在第一位置（110）和第二位置（120）之间移动；第一位置（110）与第二位置（120）沿第一方向错开，第二位置（120）位于运载底座（101）上方。通过在运载底座上设置能够驱动物料托架移动的推拉组件，使得物料托架自动移入和移出运载底座，实现物料运输的自动搬运，提高生产效率，降低制造成本。

Description

物料运输载具、运载装置、干燥系统及控制方法 技术领域
本申请涉及电池技术领域，尤其涉及一种物料运输载具、物料运载装置、物料干燥系统及控制方法、电子设备、计算机可读存储介质及计算机程序产品。
背景技术
节能减排是汽车产业可持续发展的关键，电动车辆由于其节能环保的优势成为汽车产业可持续发展的重要组成部分。对于电动车辆而言，电池技术又是关乎其发展的一项重要因素。
随着新能源产业的不断发展，市场对电池的能量密度要求越来越高，特别是在新能源汽车日益普遍的今天，电池不仅需要具有优异的动力性能而且需要具有优良的循环性能以维持电池的续航能力。在动力电池的制备过程中需要进行干燥工序，通常包括正负极粉料干燥、极片干燥和电芯干燥。干燥的耗时普遍较长，人工参与的环节和时间较多。因此，如何在保证生产质量的同时提高作业效率对于降低电池制造成本有着重要意义。
发明内容
本申请旨在至少解决现有技术中存在的技术问题之一。为此，本申请的一个目的在于提出物料运输载具、物料运载装置、物料干燥系统及控制方法、电子设备、计算机可读存储介质及计算机程序产品，以改善制造环节的作业效率。
本申请第一方面的实施例提供一种物料运输载具，其包括：运载底座和设置在运载底座上的推拉组件，推拉组件被配置为驱动用于盛放物料的物料托架在第一位置和第二位置之间移动；第二位置为运载底座上方的位置，第一位置为与第二位置位于同一水平面并相对第二位置沿第一方向间隔预设距离的位置。
本申请实施例的技术方案中，通过在运载底座上设置能够驱动物料托架移动的推拉组件，使得物料托架自动移入和移出运载底座，实现物料运输的自动搬运，提高生产效率，降低制造成本。
在一些实施例中，推拉组件包括第一推拉组件和第二推拉组件，第一推拉组件被配置为与物料托架可拆卸连接，并驱动物料托架在第一位置和第一过渡位置之间移动；第二推拉组件与第一推拉组件间隔设置，第二推拉组件被配置为与物料托架可拆卸连接，并驱动物料托架在第二位置和第一过渡位置之间移动，其中，第一过渡位置位于第一位置和第二位置之间。
本申请实施例的技术方案中，通过设置第一推拉组件和第二推拉组件以两级驱动的方式移动物料托架，能够避免单级驱动结构的稳定性不足的问题，减小推拉组件的活动范围，使得结构布置更紧凑，减小占地面积。
在一些实施例中，推拉组件还被配置为驱动物料托架在第二位置和第三位置之间移动；其中，第三位置与第二位置位于同一水平面，并与第一位置分别位于第二位置沿第一方向的两侧。
本申请实施例的技术方案中，通过推拉组件驱动物料托架向第二位置两侧移动，可以摆脱工位布置时具体方位的限制，可以提高装置的适用范围和运送效率，提高装置的作业效率。
在一些实施例中，第一推拉组件包括第一推拉杆、第一线性驱动单元和第一旋转驱动单元，第一推拉杆包括第一杆体和与第一杆体固定连接的第一卡合部；第一线性驱动单元与第一杆体传动连接，以驱动第一推拉杆在第一位置和第一过渡位置之间移动，第一旋转驱动单元与第一杆体传动连接，第一旋转驱动单元驱动第一卡合部旋转，以使第一卡合部与物料托架卡合或分离；第二推拉组件包括第二推拉杆、第二线性驱动单元和第二旋转驱动单元，第二推拉杆包括第二杆体和与第二杆体固定连接的至少一个第二卡合部；第二线性驱动单元与第二杆体传动连接，以驱动第二推拉杆在第二位置和第一过渡位置之间移动，第二旋转驱动单元与第二杆体传动连接，第二旋转驱动单元驱动至少一个第二卡合部旋转，以使至少一个第二卡合部与物料托架卡合或分离。
本申请实施例的技术方案中，通过在第一推拉组件和第二推拉组件上分别设置第一卡合部和第二卡合部以与物料托架卡合或分离，实现可拆卸式连接，结合线性驱动单元和旋转驱动单元的配合，使得第一推拉组件和第二推拉组件能够分别与物料托架卡合后推拉物料托架移动，实现二级驱动，避免单级推拉时因距离过远导致结构受力和变形较大而发生损坏，提高了装置的结构稳定性和安全性。
在一些实施例中，推拉组件还包括第三推拉组件，第三推拉组件与第一推拉组件、第二推拉组件间隔设置在运载底座上；其中，第二推拉组件还被配置为驱动物料托架在 第二位置和第二过渡位置之间移动；第三推拉组件还被配置为驱动物料托架在第二过渡位置和第三位置之间移动；第二过渡位置位于第二位置和第三位置之间。
本申请实施例的技术方案中，通过设置第三组件来实现物料托架的双向移动，使得第二推拉组件可以分别与第一推拉组件和第三推拉组件配合，以实现两侧都可以通过双级驱动的方式移动物料托架，避免结构设计的冗余，提高了装置的使用率，提升作业效率。
在一些实施例中，第三推拉组件包括第三推拉杆、第三线性驱动单元和第三旋转驱动单元，第三推拉杆包括第三杆体和与第三杆体固定连接的第三卡合部；第三线性驱动单元与第三杆体传动连接，第三线性驱动单元被配置为驱动第三推拉杆在第三位置和第二过渡位置之间移动，第三旋转驱动单元与第三杆体传动连接，第三旋转驱动单元被配置为驱动第三卡合部旋转以使第三卡合部与物料托架卡合或分离。
本申请实施例的技术方案中，第三推拉组件的结构与第一推拉组件和第二推拉组件一致可以简化零部件种类，便于后续维护，同时保持双侧移动结构的一致性，避免两侧驱动结构受力差别较大导致的不平衡。
在一些实施例中，第一位置与第三位置相对第二位置镜像对称，第一过渡位置和第二过渡位置相对第二位置镜像对称。
本申请实施例的技术方案中，具体将第一位置和第三位置、第一过渡位置和第二过渡位置设置为镜像对称可以更加简便地实现在不同侧之间移动时的定位，简化驱动单元的控制逻辑，降低故障率。
在一些实施例中，物料运输载具还包括：与运载底座固定连接的定位件，定位件用于响应物料托架位于第二位置的情况下抵接物料托架或物料托架上盛放的物料。
本申请实施例的技术方案中，通过设置定位件对物料托架或物料托架上的物料进行限定，可以保证运输时的稳定性，避免发生倾覆。同时，定位件的定位作用还可以作为判断物料托架的位置是否到位，如果物料托架的位置与第二位置有一些偏移，则定位件会因为无法达到预设的定位位置而发出报警信号，进而可以对物料托架的位置做调整，避免运输的过程中发生意外，保证运输的安全性。
本申请第二方面的实施例提供一种物料运载装置，其包括：用于盛放物料的物料托架、传送轨道，以及上述实施例中的物料运输载具。
本申请实施例的技术方案中，通过物料运输载具与传送轨道的配合，可以实现长距离的运输，使得物料运载装置中的运输载具能够实现将物料在不同位置之间转移，结 合不同工序的处理设备，实现物料在不同的处理工序中的自动上下料和运输，提高生产作业效率。
在一些实施例中，运载底座上表面设有沿第一方向延伸的至少一个第一导向件，物料托架的底部设有与至少一个第一导向件对应的至少一个第二导向件，第一方向与传送轨道的延伸方向垂直。
本申请实施例的技术方案中，通过对应设置的第一导向件和第二导向件能够对物料托架在移动时提供导向作用，避免发生偏移，更进一步的，第一导向件和第二导向件还可以提供竖直方向的支撑作用，避免物料托架移动时的重力全部或者部分作用在推拉组件上使得推拉组件因受力过大而发生变形和损坏，提高的装置的结构可靠性和稳定性。将第一方向设置为与轨道延伸方向垂直有利于物料托架移动空间的布置，避免与其他设备发生干涉，同时也有利于控制物料上下料的移动行程
在一些实施例中，物料托架的底部设有卡块，卡块与推拉组件配合实现物料托架与物料运输载具之间的可拆卸连接。
本申请实施例的技术方案中，通过设置卡块与推拉组件配合，以卡合的方式实现物料托架与物料运输载具之间的可拆卸连接，使得推拉组件可以通过相互独立的多级推拉运动驱动物料托架，避免推拉行程太远导致载荷过大。
在一些实施例中，物料运载装置还包括驱动装置，驱动装置被配置为驱动物料运输载具沿传送轨道移动。
本申请实施例的技术方案中，通过驱动装置能够实现物料运输载具的自主移动，实现物料的自动运输，提高物料在不同工序之间的转移效率。
本申请第三方面的实施例提供一种物料干燥系统，其包括上述实施例中的物料运载装置，以及位于物料运载装置中的传送轨道的侧边的干燥装置，物料运载装置用于将物料托架移入或移出干燥装置内的干燥工位。
本申请实施例的技术方案中，通过将干燥装置布置在物料运载装置的传送轨道的侧边，可以实现干燥作业的自动进料和自动出料；避免人工参与，提高作业效率和安全性。
在一些实施例中，干燥装置被配置为沿传送轨道单侧设置或两侧设置的多个真空干燥炉。
本申请实施例的技术方案中，设置多个真空干燥炉能够充分利用物料传送装置的高效传送能力，将真空干燥炉布置在传送轨道的两侧与物料运载装置能够向两侧驱动物 料托架结合，有利于传送系统的工位布置，提高物料干燥系统的紧凑性，减小占地面积，提高物料的干燥环节的作业效率，进而提高生产效率，降低制造成本。
在一些实施例中，物料干燥系统还包括上料装置和下料装置，上料装置位于传送轨道的一端，用于将物料堆叠放置在位于上料位置的物料托架上；下料装置位于传送轨道的另一端，用于将位于下料位置的物料托架上的物料取走。
本申请实施例的技术方案中，通过在传送轨道的两端分别设置上料装置和下料装置，实现上料和下料动作的自动作业，形成全程自动化作业流程，缩短不同工序之间的转换时间，提高生产效率。
本申请第四方面的实施例提供一种上述实施例中的物料干燥系统的控制方法，其包括：
步骤S401：移动物料运输载具以使第一位置或第三位置与上料位置重合；
步骤S402：将物料托架从上料位置移动至第二位置；
步骤S403：移动物料运输载具至干燥装置前以使第一位置或第三位置与干燥工位重合；
步骤S404：将物料托盘从第二位置移动至干燥工位。
本申请实施例的技术方案中，通过物料运输载具实现物料从上料位置自动移动到干燥位置，实现干燥送料作业的自动处理，避免人工参与导致耗费时间过长，提高生产效率。
在一些实施例中，物料干燥系统的控制方法还包括：
步骤S501：移动物料运输载具至干燥装置前以使第一位置或第三位置与干燥工位重合；
步骤S502：将物料托盘从干燥工位移动至第二位置；
步骤S503：移动物料运输载具以使第一位置或第三位置与下料位置重合；
步骤S504：将物料托盘从第二位置移动至下料位置。
本申请实施例的技术方案中，通过物料运送装置实现干燥后的自动出料过程，提高物料转移的自动化程度和转移速度，提高生产效率。
在一些实施例中，响应于物料托架位于第二位置的情况下，保持推拉组件与物料托架之间的卡合连接。
本申请实施例的技术方案中，通过推拉组件与物料托架的卡合连接结构能够在物料托架运输时提供很好的限位作用，避免物料托架发生侧翻，保证运输的平稳和安全。
在一些实施例中，响应于物料托架位于第二位置的情况下，驱动运载底座上的定位件抵接物料托架或物料托架上盛放的物料。
本申请实施例的技术方案中，定位件能够起到对物料托架的位置判断和移动限定作用，通过位置判断能够保证物料托架不发生偏移或发生偏移后及时调整，避免运输时翻倒造成设备故障，同时在运输时定位件能够提供沿传送轨道的延伸方向的抵接限位，这与推拉组件的限位一起能够实现水平面上的两个方向的限位，更好的保障运输的稳定性。
本申请第五方面的实施例提供一种电子设备，其包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述实施例中的物料干燥系统的控制方法。
本申请第六方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现上述实施例中的物料干燥系统的控制方法。
本申请第七方面的实施例提一种计算机程序产品，其包括计算机程序，其中，计算机程序在被处理器执行时实现上述实施例中的物料干燥系统的控制方法。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
附图说明
在附图中，除非另外规定，否则贯穿多个附图相同的附图标记表示相同或相似的部件或元素。这些附图不一定是按照比例绘制的。应该理解，这些附图仅描绘了根据本申请公开的一些实施方式，而不应将其视为是对本申请范围的限制。
图1为本申请一些实施例提供的物料运输载具的工作示意图；
图2为本申请另一些实施例提供的物料运输载具的工作示意图；
图3为本申请一些实施例的物料运输载具的结构示意图；
图4为本申请一些实施例的物料运输载具的侧视图；
图5为本申请一些实施例的物料运载装置的结构布置图；
图6为本申请一些实施例的物料托架的仰视图；
图7为本申请一些实施例的物料干燥系统的结构布置图；
图8为本申请一些实施例的物料干燥系统的控制方法的流程图；
图9为本申请另一些实施例的物料干燥系统的控制方法的流程图。
附图标记说明：
物料运输载具100，运载底座101，推拉组件102，物料托架103，卡块1031，第一卡块组1032，第二卡块组1033，第三卡块组1034，第一推拉组件104，第一推拉杆1041，第一线性驱动单元1042，第一旋转驱动单元1043，第一杆体1044，第一卡合部1045，第二推拉组件105，第二推拉杆1051，第二线性驱动单元1052，第二旋转驱动单元1053，第二杆体1054，第二卡合部1055，第三推拉组件106，第三推拉杆1061，第三线性驱动单元1062，第三旋转驱动单元1063，第三杆体1064，第三卡合部1065，定位件107，第一位置110，第一过渡位置111，第二位置120，第二过渡位置121，第三位置130，物料140，第一导向件150，第二导向件160；
物料运载装置200，传送轨道201，驱动装置202；
物料干燥系统300，干燥装置301，第一真空干燥炉302，第二真空干燥炉303，第三真空干燥炉304，上料装置305，下料装置306，上料位置310，第一干燥位置320，第二干燥位置330，下料位置340。
具体实施方式
下面将结合附图对本申请技术方案的实施例进行详细的描述。以下实施例仅用于更加清楚地说明本申请的技术方案，因此只作为示例，而不能以此来限制本申请的保护范围。
除非另有定义，本文所使用的所有的技术和科学术语与属于本申请的技术领域的技术人员通常理解的含义相同；本文中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本申请；本申请的说明书和权利要求书及上述附图说明中的术语“包括”和“具有”以及它们的任何变形，意图在于覆盖不排他的包含。
在本申请实施例的描述中，技术术语“第一”“第二”等仅用于区别不同对象，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量、特定顺序或主次关系。在本申请实施例的描述中，“多个”的含义是两个以上，除非另有明确具体的限定。
在本文中提及“实施例”意味着，结合实施例描述的特定特征、结构或特性可以包含在本申请的至少一个实施例中。在说明书中的各个位置出现该短语并不一定均是指相 同的实施例，也不是与其它实施例互斥的独立的或备选的实施例。本领域技术人员显式地和隐式地理解的是，本文所描述的实施例可以与其它实施例相结合。
在本申请实施例的描述中，术语“和/或”仅仅是一种描述关联对象的关联关系，表示可以存在三种关系，例如A和/或B，可以表示：单独存在A，同时存在A和B，单独存在B这三种情况。另外，本文中字符“/”，一般表示前后关联对象是一种“或”的关系。
在本申请实施例的描述中，术语“多个”指的是两个以上(包括两个)，同理，“多组”指的是两组以上(包括两组)，“多片”指的是两片以上(包括两片)。
在本申请实施例的描述中，技术术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请实施例的限制。
在本申请实施例的描述中，除非另有明确的规定和限定，技术术语“安装”、“相连”“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；也可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请实施例中的具体含义。
目前，从市场形势的发展来看，动力电池的应用越加广泛。动力电池不仅被应用于水力、火力、风力和太阳能电站等储能电源系统，而且还被广泛应用于电动自行车、电动摩托车、电动汽车等电动交通工具，以及军事装备和航空航天等多个领域。随着动力电池应用领域的不断扩大，其市场的需求量也在不断地扩增。
本申请人注意到，随着电池的需求迅速增大，电池的制造产能也迅速扩大，零部件在各工序运转的速度要求越来越高，对于现有的产线和设备提出了更高的自动化要求。
为了提高生产制造作业效率的问题，申请人研究发现，可以设计一套自动化装置实现物料的自动输送和上下料作业，实现电池制造过程中的自动化作业，降低人工参与环节，进而提高生产效率，降低制造成本。
另外，动力电池在使用过程中，水分将在充放电过程中与电解液发生反应，将增大电池内阻，降低电池的容量、减少其循环次数、降低电性能，严重影响电池的使用寿命，同时还存在爆炸等安全隐患，因此水分含量是影响动力电池质量和性能的重要因素 之一，而控制水分的重要手段就是采用干燥工序。当前干燥工序还处于半自动化状态，操作复杂，人工参与环节较多，耗时过长，对生产效率和制造成本产生了明显的阻碍。
基于以上考虑，为了解决电池生产环节作业效率低下的问题，申请人经过深入研究，设计了一种物料运输载具，通过在运载底座上设置推拉组件以驱动盛放物料的物料托架移动实现自动上料和自动下料，使得在物料在运输和转移时能够实现自动作业，提高生产效率，降低制造成本。
本申请实施例公开的物料运输载具可以为但不限于RGV(Rail Guided Vehicle，RGV)小车、运输机器人等等。物料运输载具可以但不限用于电池电芯、电池极片、电池模组的运输作业、干燥作业中。可以使用具备本申请公开的物料运输载具组成物料运载装置、物料干燥系统以及物料干燥系统的控制方法等，这样有利于减少输送时间，提高电池生产效率，降低制造成本。
请参照图1，图1为本申请一些实施例提供的物料运输载具的工作示意图。其中，图1中的(a)示出了物料托架位于第一位置，图1中的(b)示出了物料托架位于第一过渡位置，图1中的(c)示出了物料托架位于第二位置。
根据本申请的一些实施例，物料运输载具100包括运载底座101以及设置在运载底座上的推拉组件102。推拉组件102被配置为驱动物料托架103在第一位置110和第二位置120之间移动；第二位置120位于运载底座101上方，第一位置110为与第二位置120位于同一水平面并相对第二位置120沿第一方向X间隔预设距离的位置。
示例性的，物料托架103可以用于盛放物料，物料可以是待运输或待加工处理的工件或模组，例如电芯，物料托架103可以同时盛放多个工件或模组，多个工件或模组可以按照合适方式摆放，根据加工或处理时的摆放要求进行布置，例如可以将多个电芯层叠堆放在物料托架103上。第二位置120可以是运载底座101正上方的位置。第一位置110是与第二位置120处于同一水平面并沿第一方向X间隔预设距离的位置，可以理解的是，如图1所示，第一位置110是相对第二位置120沿第一方向X错开并间隔一定距离的位置，位于物料运输载具100外侧，当物料运输载具100移动时，第一位置110和第二位置120的绝对空间位置也会发生相应变化，同时，第一位置110与第二位置120之间间隔的预设距离也可以根据实际使用场景设定，使得驱动物料托架103在第一位置110和第二位置120移动可以实现物料托架103移入和移出物料运输载具100的运载底座101。第一方向X可以根据具体的移动方向的需要进行设定。
本实施例中，通过在运载底座101上设置能够驱动物料托架103移动的推拉组件102，使得物料托架103可以自动移入和移出运载底座101，实现物料运输的自动搬运，无需人工参与，提高生产效率，降低制造成本。
根据本申请的一些实施例，如图1所示，推拉组件102包括间隔设置的第一推拉组件104和第二推拉组件105，第一推拉组件104被配置为与物料托架103可拆卸连接，并驱动物料托架103在第一位置110和第一过渡位置111之间移动；第二推拉组件105被配置为与物料托架103可拆卸连接，并驱动物料托架103在第二位置120和第一过渡位置111之间移动，第一过渡位置111位于第一位置110和第二位置120之间。
可以理解的是，如图1所示，第一过渡位置111、第一位置110以及第二位置120是位于同一水平面内沿同一方向的错位设置的位置，例如沿第一方向X依次设置。推拉组件102驱动物料托架103从第一位置110移动到第二位置120分为两步，第一步是第一推拉组件104驱动物料托架103从第一位置110移动到第一过渡位置111，再由第二推拉组件105驱动物料托架103从第一过渡位置111移动至第二位置120，也就是运载底座101的上方，完成物料托架103移入运载底座101的过程。反过来，物料托架103移出运载底座101的过程就是从第二位置120移动至第一过渡位置111，再从第一过渡位置111移动至第一位置110，实现物料托架103与物料运输载具100的完全分离。
本申请实施例中，通过设置第一推拉组件104和第二推拉组件105以两级驱动的方式移动物料托架103，能够避免单级驱动结构的稳定性不足的问题，减小推拉组件的活动范围，使得结构受力更合理。
图2中的(a)-(c)示出本申请另一些实施例提供的物料运输载具驱动物料托架移动过程的示意图。其中，图2中的(a)示出了物料托架位于第二位置，图1中的(b)示出了物料托架位于第二过渡位置，图1中的(c)示出了物料托架位于第三位置。
在一些实施例中，如图2所示，推拉组件102还被配置为驱动物料托架103在第二位置120和第三位置130之间移动。第三位置130与第二位置120位于同一水平面，并与第一位置110分别位于第二位置120沿第一方向X的两侧。
可以理解的是，物料托架103可以在推拉组件102的驱动下向沿第一方向X同向或反向的两侧移动，这样可以实现运载底座101的沿第一方向X的两侧都可以实现物料托架103的移入和移出，即，既可以在同侧移入和移出，也可以一侧移入另一侧移出。
本申请实施例的技术方案中，通过推拉组件102驱动物料托架103向第二位置120两侧移动，可以摆脱工位布置时具体方位的限制，可以提高装置的适用范围和运送效率。 特别是结合本申请实施例示出的两级推拉的作用方式，能够很好的避免单级推拉行程过长导致的受力问题，在双向移动时，每一级的推拉行程都不需要偏离运载底座太远，因而无需改变轨道设置和结构布置，仅需对驱动单元做简单调整即可，不会受到结构布置的约束，能扩大应用场景和提高装置的作业效率。
在一些实施例中，如图2所示，第一推拉组件104包括第一推拉杆1041、第一线性驱动单元1042和第一旋转驱动单元1043，第一推拉杆1041包括第一杆体1044和与第一杆体1044固定连接的第一卡合部1045；第一线性驱动单元1042与第一杆体1044传动连接，以驱动第一推拉杆1041在第一位置110和第一过渡位置111之间移动，第一旋转驱动单元1043与第一杆体1044传动连接，第一旋转驱动单元1043驱动第一卡合部1045旋转，以使第一卡合部1045与物料托架103卡合或分离。
第二推拉组件105包括第二推拉杆1051、第二线性驱动单元1052和第二旋转驱动单元1053，第二推拉杆1051包括第二杆体1054和与第二杆体1054固定连接的至少一个第二卡合部1055；第二线性驱动单元1052与第二杆体1054传动连接，以驱动第二推拉杆1051在第二位置120和第一过渡位置111之间移动，第二旋转驱动单元1053与第二杆体1054传动连接，第二旋转驱动单元1053驱动至少一个第二卡合部1055旋转，以使至少一个第二卡合部1055与物料托架103卡合或分离。
在示例中，如图2所示，第一推拉杆1041在第一线性驱动单元1042的驱动下沿第一方向X直线移动，到达指定位置后，第一旋转驱动单元1043驱动第一推拉杆1041旋转，使得第一卡合部1045通过旋转与物料托架103卡合或分离，进而实现可拆卸连接。类似地，第二推拉杆1051也是同样的工作原理。第一线性驱动单元1042和第二线性驱动单元1052可以是电机与丝杆传动，也可以是伸缩气缸驱动；第一线性驱动单元1042与第二线性驱动单元1052可以相同，也可以不同。第一旋转驱动单元1043和第二旋转驱动单元1053可以是电机通过皮带传动旋转，也可以是电机通过齿轮传动旋转，第一旋转驱动单元1043和第二旋转驱动单元1053可以相同，也可以不同。
本申请实施例的技术方案中，通过在第一推拉组件104和第二推拉组件105上分别设置第一卡合部1045和第二卡合部1055以与物料托架103卡合或分离，实现可拆卸式连接，结合线性驱动单元和旋转驱动单元的配合，使得第一推拉组件104和第二推拉组件105能够分别与物料托架103卡合后推拉物料托架移动，实现二级驱动，减少每一级的驱动行程，避免单级推拉时因距离过远导致结构受力和变形较大而发生损坏，提高了装置的结构稳定性和安全性。
在一些实施例中，如图2和图3所示，推拉组件102还包括第三推拉组件106，第三推拉组件106与第一推拉组件104、第二推拉组件105间隔设置在运载底座101上；第二推拉组件105还被配置为驱动物料托架103在第二位置120和第二过渡位置121之间移动；第三推拉组件106还被配置为驱动物料托架103在第二过渡位置121和第三位置120之间移动；第二过渡位置121位于第二位置120和第三位置130之间。
本申请实施例的技术方案中，通过设置第三推拉组件106来实现物料托架103的双向移动，使得第二推拉组件105可以分别与第一推拉组件104和第三推拉组件106配合，以实现两侧都可以通过双级驱动的方式移动物料托架103，提高了第二推拉组件105的利用效率，避免结构设计的冗余，提高了装置的使用率，提升作业效率。
在一些实施例中，如图3所示，第三推拉组件106包括第三推拉杆1061、第三线性驱动单元1062和第三旋转驱动单元1063，第三推拉杆1061包括第三杆体1064和与第三杆体1064固定连接的第三卡合部1065；第三线性驱动单元1062与第三杆体1064传动连接，第三线性驱动单元1062被配置为驱动第三推拉杆1061在第三位置130和第二过渡位置121之间移动，第三旋转驱动单元1063与第三杆体1064传动连接，第三旋转驱动单元1063被配置为驱动第三卡合部1065旋转以使第三卡合部1065与物料托架103卡合或分离。
在示例中，第三卡合部1065可以与第一卡合部1045、第二卡合部结构1055尺寸一致。第三线性驱动单元1062和第三旋转驱动单元1063也可以分别设置为与第一线性驱动单元1042、第二线性驱动单元1052以及第一旋转驱动1043、第二旋转驱动单元1053一致，以提高零部件的一致性，便于后续维护。
本申请实施例的技术方案中，第三推拉组件106的结构与第一推拉组件104和第二推拉组件105一致可以简化零部件种类，便于后续维护，同时保持双侧移动结构的一致性，避免两侧驱动结构受力差别较大导致的不平衡。
在一些实施例中，第一位置110与第三位置130相对第二位置120镜像对称，第一过渡位置111和第二过渡位置121相对第二位置120镜像对称。
本申请实施例的技术方案中，具体将第一位置110和第三位置130、第一过渡位置111和第二过渡位置121设置为镜像对称可以更加简便地实现在不同侧之间移动时的定位，简化驱动单元的控制逻辑，降低故障率。
在一些实施例中，如图4所示，物料运输载具100还包括与运载底座101固定连接的定位件107，用于响应物料托架103位于第二位置120的情况下抵接物料托架103或物料托架103上盛放的物料140。
在示例中，定位件107可以是定位气缸。在物料托架103移入运载底座101后，驱动定位气缸的活塞杆运动抵接物料托架进行定位。示例性的，定位件107的布置方向可以与第一方向X不同，以提供不同方向的限位，例如，与第一方向垂直。可以理解的是，物料托架103上盛放的物料可以是以堆叠方式放置的，例如堆叠放置的电芯。
本申请实施例的技术方案中，通过设置定位件107对物料托架103或物料托架103上的物料进行限定，可以保证运输时的稳定性，避免发生倾覆。同时，定位件107的定位作用还可以作为判断物料托架103的位置是否到位，如果物料托架103的位置与第二位置120有一些偏移，则定位件107会因为无法达到预设的定位位置而发出报警信号，提醒操作人员对物料托架的位置做调整，避免运输的过程中发生意外，保证运输的安全性。
本申请第二方面的实施例提供一种物料运载装置，如图5所示，物料运载装置200包括：用于盛放物料的物料托架103、传送轨道201，以及物料运输载具100。物料运输载具100可以是上述任一实施例中的物料运输载具。
在示例中，物料运输载具100可以是RGV小车，传送轨道201可以是RGV轨道。物料运载装置200可以与任意处理设备配合，实现对物料的某一项或多项处理工序的自动作业。具体由物料运载装置200将盛放物料的物料托架103由上料处运送至处理设备进行处理，处理工序完成后再将盛放物料的物料托架103从处理设备中移至出料处。处理设备以是真空干燥炉、反应炉等。
本申请实施例的技术方案中，通过物料运输载具100与传送轨道201的配合，可以实现长距离的运输，使得物料运载装置200中的运输载具能够实现将物料在不同位置之间转移，结合不同工序的处理设备，实现物料在不同的处理工序中的自动上下料和运输，提高生产作业效率。
在一些实施例中，如图4-图5所示，运载底座101上表面设有沿第一方向X延伸的至少一个第一导向件150，物料托架103的底部设有与至少一个第一导向件150对应的至少一个第二导向件160，第一方向X与传送轨道201的延伸方向Y垂直。
可以理解的是，第一方向X与传送轨道201的延伸方向Y位于同一水平面内且互相垂直。第一方向X是第一位置110、第二位置120和第三位置130的布置方向，也是 物料托架103的移动方向。在示例中，结合图4所示，第一导向件150可以是滑轨，对应的第二导向件160可以是滑槽以与滑轨配合对物料托架103的移动提供导向限位，在另一些实施例中，第一导向件150也可以为滑槽，对应第二导向件160为滑轨或者是滑轮，第一导向件150和第二导向件160的数量可以是两个，也可以是一个或三个以上。
本申请实施例的技术方案中，通过对应设置的第一导向件150和第二导向件160能够对物料托架103在移动时提供导向作用，避免发生偏移，更进一步的，第一导向件150和第二导向件160还可以提供竖直方向的支撑作用，避免物料托架103移动时的重力全部或者部分作用在推拉组件上使得推拉组件因受力过大而发生变形和损坏，提高的装置的结构可靠性和稳定性。将第一方向X设置为与轨道延伸方向Y垂直有利于物料托架103移动空间的布置，避免与其他设备发生干涉，同时也有利于控制物料上下料的移动行程。
在一些实施例中，如图6所示，物料托架103的底部设有卡块1031，卡块1031与推拉组件102配合实现物料托架103与物料运输载具100之间的可拆卸连接。
示例性的，卡块1031可以是沿物料托架底部表面向外延伸的凸块，卡块的数量可以是多个。如图6所示，卡块1031包括与第一卡合部1045配合的第一卡块组1032、与第二卡合部1055配合的第二卡块组1033以及与第三卡合部1065配合的第三卡块组1034，第一卡块组1032、第二卡块组1033和第三卡块组1034中的卡块数量可以是一个或多个。
可以理解的是，卡块1031是与推拉组件102中的第一卡合部1045、第二卡合部1055以及第三卡合部1065配合作用的，第一卡合部1045、第二卡合部1055以及第三卡合部1065可以设置与卡块1031的尺寸适配的卡槽，以此实现物料托架103与物料运输载具100的可拆卸式连接。
本申请实施例的技术方案中，通过设置卡块1031与推拉组件102配合，以卡合的方式实现物料托架103与物料运输载具100之间的可拆卸连接，使得推拉组件102可以通过相互独立的多级推拉运动驱动物料托架，避免推拉行程太远导致载荷过大。
在一些实施例中，物料运载装置200还包括驱动装置202，驱动装置202被配置为驱动物料运输载具100沿传送轨道201移动。如图4所示，驱动装置202设置在物料运输载具100的运载底座的一端。
可以理解的是，驱动装置202既可以设置在物料运输载具100上，也可以设置在传送轨道201的一端，通过传动结构与物料运输载具100传动连接。
本申请实施例的技术方案中，通过驱动装置202能够实现物料运输载具的自主移动，实现物料的自动运输，提高物料在不同工序之间的转移效率。
本申请第三方面的实施例提供一种物料干燥系统。如图7所示，物料干燥系统300包括物料运载装置200，以及位于物料运载装置200中的传送轨道201的侧边的干燥装置301。物料运载装置200用于将物料托架103移入或移出干燥装置301内的干燥工位。物料运载装置200为上述实施例中的物料运载装置。
在示例中，物料运载装置200中的物料运输载具100将物料托架103运送至干燥装置301的入口，在通过推拉组件102的驱动，使得物料托架103从运载底座101上的第二位置120移动到干燥装置301内的干燥工位；在干燥完成后，又通过推拉组件102将物料托架103从干燥工位移出到运载底座101上的第二位置120后转运离开。
本申请实施例的技术方案中，通过将干燥装置布置在物料运载装置的传送轨道的侧边，可以实现干燥作业的自动进料和自动出料；避免人工参与，提高作业效率和安全性。
在一些实施例中，如图7所示，干燥装置301被配置为沿传送轨道201单侧设置或两侧设置的多个真空干燥炉。
可以理解的是，如图7所示，多个真空干燥炉可以设置在传送轨道的同一侧，也可以分别位于传送轨道的两侧。在示例中，干燥装置301包括第一真空干燥炉302、第二真空干燥炉303和第三真空干燥炉304，其中第一真空干燥炉302和第二真空干燥炉303位于传送轨道201的同一侧，第三真空干燥炉304位于传送轨道201的另一侧。
本申请实施例的技术方案中，设置多个真空干燥炉能够充分利用物料运载装置200的高效传送能力，将真空干燥炉布置在传送轨道201的两侧与物料运载装置200能够向两侧驱动物料托架103结合，有利于传送系统的工位布置，提高物料干燥系统300的紧凑性，减小占地面积，提高物料的干燥环节的作业效率，进而提高生产效率，降低制造成本。
在一些实施例中，物料干燥系统300还包括上料装置305和下料装置306，上料装置位于传送轨道201的一端，用于将物料140堆叠放置在位于上料位置310的物料托架103上；下料装置306位于传送轨道201的另一端，用于将位于下料位置340的物料托架103上的物料取走。
在示例中，上料装置305和下料装置306可以是机械手，机械手抓取物料，例如电芯，放置到上料位置的物料托架103上或从下料位置的物料托架103上移走。上料位 置310是指将物料托架103准备转移至物料运输载具100上的位置，下料位置340是指将物料运输载具100上物料托架103移出后的放置位置。
本申请实施例的技术方案中，通过在传送轨道201的两端分别设置上料装置305和下料装置306，实现上料和下料动作的自动作业，形成全程自动化作业流程，缩短不同工序之间的转换时间，提高生产效率。
本申请第四方面的实施例提供一种物料干燥系统的控制方法，如图8所示，物料干燥系统的控制方法包括：
步骤S401：移动物料运输载具100以使第一位置110或第三位置130与上料位置310重合；
步骤S402：将物料托架103从上料位置310移动至第二位置120；
步骤S403：移动物料运输载具100至干燥装置301前以使第一位置110或第三位置130与干燥工位320重合；
步骤S404：将物料托盘103从第二位置120移动至干燥工位320。
在示例中，物料干燥系统的控制方法包括用于实现将物料托架从上料位置运送至干燥装置内的干燥工位以便执行干燥作业。结合图7所示，当物料运输载具100移动至上料位置310前，直至物料运输载具100的运载底座上的第二位置沿第一方向X对应的第一位置或第三位置与上料位置310重合，以使推拉组件102能够与物料托架103实现可拆卸连接，从而驱动物料托架103从上料位置310移动至物料运输载具100的运载底座101上的第二位置120。当物料运输载具100移动至第一真空干燥炉302的入口前，直至物料运输载具对应的第一位置110或第三位置130与第一真空干燥炉302内的干燥工位320重合，以使推拉组件102可以移动物料托架103从运载底座101上的第二位置120移动到第一真空干燥炉302内的干燥工位320，完成将物料从上料位置310运送至干燥工位320的自动运送过程。
可以理解的是，可以通过设置定位结构或传感器定位的方式实现物料运输载具与上料位置、干燥工位的相对位置定位，保证物料托架按照预定的方向移动至预定的位置。
本申请实施例的技术方案中，通过物料运输载具实现物料从上料位置自动移动到干燥位置，实现干燥送料作业的自动处理，避免人工参与导致耗费时间过长，提高生产效率。
在一些实施例中，如图9所示，物料干燥系统的控制方法还包括：
步骤S501：移动物料运输载具100至干燥装置301前以使第一位置110或第三位置130与干燥工位重合；
步骤S502：将物料托盘103从干燥工位移动至第二位置120；
步骤S503：移动物料运输载具100以使第一位置110或第三位置130与下料位置340重合；
步骤S504：将物料托盘103从第二位置120移动至下料位置340。
在示例中，物料干燥系统的控制方法还包括从将物料托架从干燥装置内的干燥位置移出并送至下料位置的出料过程。结合图7所示，移动物料运输载具100至干燥装置301中的第三真空干燥炉304前，直至运载底座101对应的第一位置110或第三位置130与第二干燥位置330重合，通过推拉组件102驱动物料托架103从第二干燥位置330移动至运载底座101上的第二位置120，然后由移动物料运输载具100运送到传送轨道202一端以便于下料，具体物料运输载具100需要移动至第一位置110或第三位置130与下料位置340重合的地方，然后由推拉组件102驱动物料托架103从第二位置120移动至下料位置340。可以理解的是，物料运输载具100可以设置为驱动物料托架103始终在运载底座101的同一侧移动，即上料位置310、干燥位置以及下料位置340均位于物料运输载具的同一侧，也可以设置为驱动物料托架沿运载底座第一方向的两侧移动，即上料位置、干燥位置以及下料位置可以任意分布在运载底座的两侧。
本申请实施例的技术方案中，通过物料运送装置实现干燥后的自动出料过程，提高物料转移的自动化程度和转移速度，提高生产效率。
在一些实施例中，响应于物料托架103位于第二位置120的情况下，保持推拉组件102与物料托架103之间的卡合连接。
在示例中，如图3和图4所示，推拉组件102中的第二推拉组件105设有两个第二第二卡合部1055，当物料托架103位于运载底座101上的第二位置时，通过保持第二卡合部1055与物料托架103底部的第二卡块组1033之间的卡合关系，使得推拉组件102能够在物料运输载具100带着物料托架103移动时对物料托架103起到一个限位作用，以保证运输时的稳定。由于推拉组件102中的各个推拉杆以及卡合部的运动是独立的，推拉组件102中的第一推拉组件104和第三推拉组件106同样也可以在物料托架103位于运载底座101上的第二位置时分别与其对应的卡块保持卡合连接。
本申请实施例的技术方案中，通过推拉组件与物料托架的卡合连接结构能够在物料托架运输时提供很好的限位作用，避免物料托架发生侧翻，保证运输的平稳和安全。
在一些实施例中，响应于物料托架位于第二位置的情况下，驱动运载底座上的定位件抵接物料托架或物料托架上盛放的物料。
在示例中，如图4所示，当移动物料托架103至第二位置120后，可以驱动定位件107沿传送轨道的延伸方向抵接物料托架103或物料140。此时如果物料托架的位置相对预设的第二位置发生偏移时，定位件107就无法满足预设的抵接要求，从而发出报警信号，提醒操作人员对物料托架的位置进行调整。
本申请实施例的技术方案中，定位件能够起到对物料托架的位置判断和移动限定作用，通过位置判断能够保证物料托架不发生偏移或发生偏移后及时调整，避免运输时翻倒造成设备故障，同时在运输时定位件能够提供沿传送轨道的延伸方向的抵接限位，这与推拉组件的限位一起能够实现水平面上的两个方向的限位，更好的保障运输的稳定性。
本申请第五方面的实施例提供一种电子设备，其包括：至少一个处理器；以及与至少一个处理器通信连接的存储器，其中，存储器存储有可被至少一个处理器执行的指令，指令被至少一个处理器执行，以使至少一个处理器能够执行上述实施例中的物料干燥系统的控制方法。
本申请第六方面的实施例提供一种计算机可读存储介质，存储有计算机程序，计算机程序被处理器执行时实现上述实施例中的物料干燥系统的控制方法。
本申请第七方面的实施例提一种计算机程序产品，其包括计算机程序，其中，计算机程序在被处理器执行时实现上述实施例中的物料干燥系统的控制方法。
在示例中，如图2-7所示的物料干燥系统300，其包括物料运载装置200、干燥装置301、上料装置305和下料装置306。
物料运载装置包括传送轨道201、设置在传送轨道201上的物料运输载具100、驱动装置202、以及用于盛放物料的物料托架103，传送轨道201呈直线布置，驱动装置202设置在物料运输载具100上以驱动物料运输载具100在传送轨道201上移动。
干燥装置301包括位于传送轨道201一侧的第一真空干燥炉302、第二真空干燥炉303，以及位于传送轨道201另一侧的第三真空干燥炉304。
上料装置305位于传送轨道201的第一端，下料装置306位于传送轨道201的第二端。
物料干燥系统300的进料过程为：
上料装置305将来料拉带运送过来的电芯抓取后叠放至物料托架103上。
驱动装置202驱动物料运输载具100移动至传送轨道201的第一端，直至物料运输载具100的运载底座101对应的第一位置与上料位置310重合时停止移动。
第一线性驱动单元1042驱动第一推拉杆1041向第一位置移动，直至第一卡合部1045移动至第一卡块组1032所在的位置；第一旋转驱动单元1043驱动第一推拉杆1041旋转，使第一卡合部1045上的卡槽与第一卡块组1032卡合；第一线性驱动单元1042驱动第一推拉杆1041带动物料托架103移动至第一过渡位置111，第一旋转驱动单元1043驱动第一推拉杆1041旋转使第一卡合部1045与第一卡块组分离，完成第一级推拉。
第二线性驱动单元1052驱动第二推拉杆1051移动直至第二卡合部1055移动至第二卡块组1033所在的位置，第二旋转驱动单元1053驱动第二推拉杆1051旋转以使第二卡合部1055与第二卡块组1033卡合。第二线性驱动单元1052驱动第二推拉杆1051带动物料托架103从第一过渡位置111移动至第二位置120，完成第二级推拉。
驱动定位件107抵接物料托架103的侧边，以对物料托架103提供沿轨道延伸方向Y的限位支撑。
驱动装置202驱动物料运输载具100沿传送轨道201移动至第一真空干燥炉302前，物料运输载具100沿传送轨道201移动保持第二卡合部1055与第二卡块组1033卡合连接。当第三位置130与第一真空干燥炉302内的第一干燥位置320重合时物料运输载具100停止移动，定位件107与物料托架103分离取消限位。
第二线性驱动单元1052驱动第二推拉杆1051带动物料托架103从第二位置120移动至第二过渡位置121，第二旋转驱动单元1053驱动第二推拉杆1051旋转至第二卡合部1055与第二卡块组1033分离。
第三线性驱动单元1062驱动第三推拉杆1061移动至第三卡合部1065与第三卡块组1034对应的位置，第三旋转驱动单元1063驱动第三推拉杆1061旋转至第三卡合部1065与第三卡块组1034卡合，第三线性驱动单元1062驱动第三推拉杆1061带动物料托架103从第二过渡位置121移动至第一真空干燥炉302内的第一干燥位置320，第三旋转驱动单元1063驱动第三推拉杆1061旋转至第三卡合部1065与第三卡块组1034分离，第三线性驱动单元1062驱动第三推拉杆1061返回至第二位置，关闭第一真空干燥炉302的炉门，完成物料干燥作业的进料过程。
物料干燥系统300的出料过程为：
驱动装置202移动物料运输载具100至第三真空干燥炉304前，直至第一位置110与第三真空干燥炉304内的第二干燥位置330重合时停止移动。
推拉组件102驱动物料托架103从第三真空干燥炉304内第二干燥位置330移动至第二位置120，完成物料移出第三真空干燥炉304，此过程与进料过程中从上料位置310移动至第二位置120基本一致。定位件107抵接物料托架103的侧面。
保持第二卡合部1055与第二卡块组1033的卡合状态，驱动装置202移动物料运输载具100至下料位置340前，直至第一位置110与下料位置340重合时停止物料运输载具100移动，定位件107解除对物料托架103的抵接。
推拉组件102驱动物料托架103从第二位置120移动至下料位置340，此过程与进料过程中从第二位置120移动至第一干燥位置320基本一致。
下料装置306抓取下料位置340处的物料托架103上的电芯并转移至下料拉带移走，完成整个出料过程。
最后应说明的是：以上各实施例仅用以说明本申请的技术方案，而非对其限制；尽管参照前述各实施例对本申请进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本申请各实施例技术方案的范围，其均应涵盖在本申请的权利要求和说明书的范围当中。尤其是，只要不存在结构冲突，各个实施例中所提到的各项技术特征均可以任意方式组合起来。本申请并不局限于文中公开的特定实施例，而是包括落入权利要求的范围内的所有技术方案。

Claims (22)

  1. 一种物料运输载具，包括：
    运载底座，
    推拉组件，设置在所述运载底座上，
    其中，所述推拉组件被配置为驱动物料托架在第一位置和第二位置之间移动；所述第二位置为所述运载底座上方的位置，所述第一位置为与所述第二位置位于同一水平面并相对所述第二位置沿第一方向间隔预设距离的位置。
  2. 根据权利要求1所述的物料运输载具，其中，所述推拉组件包括：
    第一推拉组件，所述第一推拉组件被配置为与所述物料托架可拆卸连接，并驱动所述物料托架在所述第一位置和第一过渡位置之间移动；
    第二推拉组件，与所述第一推拉组件间隔设置，所述第二推拉组件被配置为与所述物料托架可拆卸连接，并驱动所述物料托架在所述第二位置和所述第一过渡位置之间移动，
    其中，所述第一过渡位置位于所述第一位置和所述第二位置之间。
  3. 根据权利要求2所述的物料运输载具，所述推拉组件还被配置为驱动所述物料托架在所述第二位置和第三位置之间移动；
    其中，所述第三位置与所述第二位置位于同一水平面，并与所述第一位置分别位于所述第二位置沿所述第一方向的两侧。
  4. 根据权利要求2所述的物料运输载具，其中，
    所述第一推拉组件包括：
    第一推拉杆，包括第一杆体和与所述第一杆体固定连接的第一卡合部；
    第一线性驱动单元，与所述第一杆体传动连接，以驱动所述第一推拉杆在所述第一位置和所述第一过渡位置之间移动，
    第一旋转驱动单元，与所述第一杆体传动连接，所述第一旋转驱动单元驱动所述第一卡合部旋转，以使所述第一卡合部与所述物料托架卡合或分离；
    所述第二推拉组件包括：
    第二推拉杆，包括第二杆体和与所述第二杆体固定连接的至少一个第二卡合部；
    第二线性驱动单元，与所述第二杆体传动连接，以驱动所述第二推拉杆在所述第二位置和所述第一过渡位置之间移动，
    第二旋转驱动单元，与所述第二杆体传动连接，所述第二旋转驱动单元驱动所述至少一个第二卡合部旋转，以使所述至少一个第二卡合部与所述物料托架卡合或分离。
  5. 根据权利要求3所述的物料运输载具，所述推拉组件还包括：
    第三推拉组件，与所述第一推拉组件、所述第二推拉组件间隔设置在所述运载底座上；
    其中，所述第二推拉组件还被配置为驱动所述物料托架在所述第二位置和第二过渡位置之间移动；
    所述第三推拉组件还被配置为驱动所述物料托架在所述第二过渡位置和所述第三位置之间移动；
    所述第二过渡位置位于所述第二位置和所述第三位置之间。
  6. 根据权利要求5所述的物料运输载具，其中，所述第三推拉组件包括：
    第三推拉杆，包括第三杆体和与所述第三杆体固定连接的第三卡合部；
    第三线性驱动单元，与所述第三杆体传动连接，第三线性驱动单元被配置为驱动所述第三推拉杆在所述第三位置和所述第二过渡位置之间移动，
    第三旋转驱动单元，与所述第三杆体传动连接，所述第三旋转驱动单元被配置为驱动所述第三卡合部旋转以使所述第三卡合部与所述物料托架卡合或分离。
  7. 根据权利要求5所述的物料运输载具，所述第一位置与所述第三位置相对所述第二位置镜像对称，所述第一过渡位置和所述第二过渡位置相对所述第二位置镜像对称。
  8. 根据权利要求1-7中任一项所述的物料运输载具，其中，所述物料运输载具还包括：
    定位件，与所述运载底座固定连接，用于响应所述物料托架位于所述第二位置的情况下抵接所述物料托架或所述物料托架上盛放的物料。
  9. 一种物料运载装置，包括：
    物料托架，用于盛放物料；
    传送轨道，
    如权利要求1-8任一项所述的物料运输载具，所述物料运输载具驱动所述物料托架移入或移出所述物料运输载具的运载底座，并沿所述传送轨道运送所述物料托架。
  10. 根据权利要求9所述的物料运载装置，其中，
    所述运载底座上表面设有沿所述第一方向延伸的至少一个第一导向件，所述物料托架的底部设有与所述至少一个第一导向件对应的至少一个第二导向件；
    所述第一方向与所述传送轨道的延伸方向垂直。
  11. 根据权利要求9所述的物料运载装置，还包括：
    驱动装置，被配置为驱动所述物料运输载具沿所述传送轨道移动。
  12. 根据权利要求9-11中任一项所述的物料运载装置，其中，所述物料托架的底部设有卡块，所述卡块与所述推拉组件配合实现所述物料托架与所述物料运输载具之间的可拆卸连接。
  13. 一种物料干燥系统，包括：
    如权利要求9-12中任一项所述的物料运载装置；
    干燥装置，位于所述物料运载装置中的所述传送轨道的侧边；
    其中，所述物料运载装置用于将所述物料托架移入或移出所述干燥装置内的干燥工位。
  14. 根据权利要求13所述的物料干燥系统，其中，所述干燥装置被配置为沿所述传送轨道单侧设置或两侧设置的多个真空干燥炉。
  15. 根据权利要求13或14所述的物料干燥系统，还包括：
    上料装置，位于所述传送轨道的一端，所述上料装置用于将物料堆叠放置在位于上料位置的所述物料托架上；
    下料装置，位于所述传送轨道的另一端，所述下料装置用于将位于下料位置的所述物料托架上的物料取走。
  16. 一种如权利要求13-15中任一项所述的物料干燥系统的控制方法，包括：
    移动所述物料运输载具以使所述第一位置或所述第三位置与上料位置重合；
    将所述物料托架从上料位置移动至所述第二位置；
    移动所述物料运输载具至所述干燥装置前以使所述第一位置或所述第三位置与所述干燥工位重合；
    将所述物料托盘从所述第二位置移动至所述干燥工位。
  17. 根据权利要求16所述的控制方法，还包括：
    移动所述物料运输载具至所述干燥装置前以使所述第一位置或所述第三位置与所述干燥工位重合；
    将所述物料托盘从所述干燥工位移动至所述第二位置；
    移动所述物料运输载具以使所述第一位置或所述第三位置与下料位置重合；
    将所述物料托盘从所述第二位置移动至所述下料位置。
  18. 根据权利要求16或17所述的控制方法，其中，响应于所述物料托架位于所述第二位置的情况下，保持所述推拉组件与所述物料托架之间的卡合连接。
  19. 根据权利要求16或17所述的控制方法，其中，响应于所述物料托架位于所述第二位置的情况下，驱动所述运载底座上的定位件抵接所述物料托架或所述物料托架上盛放的物料。
  20. 一种电子设备，包括：
    至少一个处理器；以及
    与所述至少一个处理器通信连接的存储器，其中，所述存储器存储有可被所述至少一个处理器执行的指令，所述指令被所述至少一个处理器执行，以使所述至少一个处理器能够执行如权利要求16-19中任一项所述的控制方法。
  21. 一种计算机可读存储介质，存储有计算机程序，所述计算机程序被处理器执行时实现权利要求16-19中任一所述的控制方法。
  22. 一种计算机程序产品，包括计算机程序，其中，所述计算机程序在被处理器执行时实现权利要求16-19中任一项所述的控制方法。
PCT/CN2022/120297 2022-09-21 2022-09-21 物料运输载具、运载装置、干燥系统及控制方法 WO2024060084A1 (zh)

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US4818171A (en) * 1987-10-22 1989-04-04 Caterpillar Industrial Inc. Pallet transferring arrangement and method
JP2011213431A (ja) * 2010-03-31 2011-10-27 Fuji Machinery Co Ltd 物品供給装置
US20120159803A1 (en) * 2009-08-07 2012-06-28 Johannes Van Veen Method and assembly for handling containers in a freeze dryer
CN105202882A (zh) * 2014-06-13 2015-12-30 宁德时代新能源科技有限公司 极片干燥装置
CN208149749U (zh) * 2018-04-23 2018-11-27 中科天工（武汉）智能技术有限公司 一种不间断上料装置
CN114789934A (zh) * 2022-04-26 2022-07-26 广东粤山新材料科技有限公司 一种调整装置及铺纸线

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4818171A (en) * 1987-10-22 1989-04-04 Caterpillar Industrial Inc. Pallet transferring arrangement and method
US20120159803A1 (en) * 2009-08-07 2012-06-28 Johannes Van Veen Method and assembly for handling containers in a freeze dryer
JP2011213431A (ja) * 2010-03-31 2011-10-27 Fuji Machinery Co Ltd 物品供給装置
CN105202882A (zh) * 2014-06-13 2015-12-30 宁德时代新能源科技有限公司 极片干燥装置
CN208149749U (zh) * 2018-04-23 2018-11-27 中科天工（武汉）智能技术有限公司 一种不间断上料装置
CN114789934A (zh) * 2022-04-26 2022-07-26 广东粤山新材料科技有限公司 一种调整装置及铺纸线

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